A Stereovision-based navigation system for a mobile robot

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Submitted on 24 May 2006

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A Stereovision-based navigation system for a mobile robot

Michel Buffa, Olivier Faugeras, Zhengyou Zhang

To cite this version:

Michel Buffa, Olivier Faugeras, Zhengyou Zhang. A Stereovision-based navigation system for a mobile

robot. [Research Report] RR-1895, INRIA. 1993. �inria-00074776�

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Local Mapper Motion

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Delaunay triangulation of the 2D constrained segments

Mark the empty triangles, compute the free space

Locate obstacles as convex polygons 3D Line segments from the stereo, estimate of the last movement

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#†#

Some segments (bold) are not edges

of triangles (thin) All Segments are edges of triangles.

Some points have been added

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seen by R1

Seen by R1 and R3 Seen by R3

R1 R2

R3

Seen by R2 and R3

Seen by R2

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+@(!.BUGJ(Q#

Update the 2D map

Constrain the updated map

Delaunay Triangulation Remove segments fused

Add new segments constrained, update segments constrained differently than before.

Updated map

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S1

Optical Ray

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